Adaptive Robust Posture Control of a Pneumatic Muscles Driven Parallel Manipulator with Redundancy

Abstract

This paper presents an adaptive robust posture controller for a pneumatic muscles driven parallel manipulator with a redundant degree-of-freedom (DOF). The symmetric geometric structure of the parallel manipulator driven by identical pneumatic muscles studied in this paper makes the rotation angle of the manipulator along its axial direction negligible and… (More)

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